| description |
|---|
This article describes how to use 2D & 3D Fusion and Frame Series tool. The object tracking is a key-feature of the perception system of autonomous cars and ADASs. |
LiDAR Annotation Tool Overview
The main screen of the LiDAR annotation tool consists of the following components
LiDAR Annotation Tool Interface
Tools
| ||
RGB Camera Data
| ||
Point Cloud Data
| ||
Settings
For example, by displaying the intensity value of points, changing the size of points, etc. | ||
| 3-Views Area |
| |
| Results |
| |
Data Info Display data information, including coordinate values and the total number of points. |
Click Create (or hit F on the keyboard) on the upper right corner, click 3 time to draw the outline of the object, then a cuboid that fits the object will be generated by the AI-assisted tool.
AI-assisted 3D Cuboid Tool
In most cases, slightly adjust the cuboid in three different views: overhead, side and rear views.
Hit C on the keyboard to change the cuboid facing direction.
Adjust 3D Cuboid in 3 Views Area
{% hint style="success" %} It is recommended to use shortcut keys to adjust the position. {% endhint %}
| Shortcut Key | Check in 3 Views | Function |
|---|---|---|
| Z X | Check in Overhead view | Rotate Clockwise / Counterclockwise |
| A W S D | Check in Side view | Move to Left / Up/ Down/ Right |
| Q E | Check in Rear view | Move to Left / Right |
Note: Using shortcuts do not reset the scale of three views.
If you're working on a 2D & 3D fusion dataset, Projection and Re-projection button can project a bounding box or cuboid to the RGB images from point cloud data.
You can adjust the bounding box and cuboid in RGB images, click Re-Projection to reset the result.
Project 3D Results to the RGB Image
Xtreme1 platform has preset models for ADAS scenarios -- only by clicking one button to auto-generate results. Yon can also integrate other models into the Xtreme1 platform. See Model Page.
Click Run Model button to apply a model to auto-annotate objects in 3D point cloud data. Click the button again to load results after recognition.
3D Object Detection Model Tool
Running model predicts all targets in point cloud data by default, you can choose preferred classes and confidence value in AI Annotation Setting.
Pre-annotation Model Setting
Click Info button on the lower left corner to show Coordinates, Points of selected scene results.
Click Setting below data info to customize display effects of Image, Point cloud and Result etc.
- Image: Tick checkboxes to show Cuboids, 3D Cuboids, Projected Cuboids and Projected Points
- Point Cloud: Points - Point size in 3D point cloud; Color Height / Intensity - Slide or input value to modify point cloud render color; Click Reset to reset to default value;
- Objects：Switch to show tags on results;
- Utility：Switch to show distance measure and its radius in meter.
| Key | Description |
|---|---|
| Actions | Shortcut key |
| F | Create Object |
| Ctrl/⌘ + C | Copy Object |
| Ctrl/⌘ + V | Paste Object |
| Ctrl/⌘ + Drag | Copy by Drag Object |
| Del | Delete Object |
| Ctrl/⌘ + Z | Undo |
| Ctrl/⌘ + Shift + Z | Redo |
| U | Turn on/off Auto Fit |
| Edit Cuboid | Shortcut key |
| W/S | Move Cuboid Up/Down |
| A/D | Move Cuboid Backward/Forward |
| Q/E | Move Cuboid Left/Right |
| Z/X | Rotate Cuboid Clockwise / Counterclockwise |
| T | Show/Hide Classes and Attributes Pad |
| M | Show/Hide Label |
| C | Change Head Direction |
| V | Filp Head |
| Display | Shortcut key |
| G | Show/Hide Coordinate Axis |
| B | Filter Other Object in 2D View |
| N | Show/Hide Distance Measure |
| R | Open/Close Review Panel |
{% embed url="https://www.youtube.com/watch?t=50s&v=4jo2FFVGJi0" %} Xtreme1 Tutorial Series Episode 2: Annotation of 2D & 3D Fusion Data {% endembed %}